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Root Locus for Random Reference Tracking in Systems With Saturating Actuators

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3 Author(s)
ShiNung Ching ; Dept. of Electr. Eng. & Comput. Sci., Univ. of Michigan, Ann Arbor, MI ; Kabamba, P.T. ; Meerkov, S.M.

This paper develops a root locus technique for random reference tracking in systems with saturating actuators. This is accomplished by introducing the notion of S-poles, which are the poles of the quasilinear system obtained by applying the method of stochastic linearization to the original system with saturation. The path traced by the S-poles on the complex plane when the gain of the controller changes from 0 to infin is the S-root locus. We show that the S-root locus is a subset of the standard root locus, which may terminate prematurely in the so-called termination points. A method for calculating these points is presented and a number of other, more subtle, differences between the usual and the S-root loci are described. In addition, the issue of amplitude truncation in terms of the S-root locus is investigated. Finally, an application of the S-root locus to hard disk drive controller design is presented.

Published in:

Automatic Control, IEEE Transactions on  (Volume:54 ,  Issue: 1 )